CN108645408A - Unmanned aerial vehicle autonomous recovery target prediction method based on navigation information - Google Patents
Unmanned aerial vehicle autonomous recovery target prediction method based on navigation information Download PDFInfo
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- CN108645408A CN108645408A CN201810424143.3A CN201810424143A CN108645408A CN 108645408 A CN108645408 A CN 108645408A CN 201810424143 A CN201810424143 A CN 201810424143A CN 108645408 A CN108645408 A CN 108645408A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
Aiming at the situation that the cooperative target moves, the invention provides an unmanned aerial vehicle autonomous recovery target prediction method based on navigation information. The movement of the cooperative target means that the displacement component of the cooperative target in the world coordinate system changes, i.e. the cooperative target moves in the world coordinate systemA change occurs. In the process of autonomous recovery of the unmanned aerial vehicle, the unmanned aerial vehicle can provide navigation information such as pose and the like in real time, based on the pose information of the unmanned aerial vehicle at the previous period, a motion curve of a cooperative target is fitted by using a relevant numerical method, the spatial motion position of the cooperative target at the current time is estimated according to the curve, and then an imaging point of the cooperative target is predicted by combining the navigation information. The method can predict the imaging area of the cooperative target by combining the navigation information, and only carries out target detection tracking and relative pose calculation in the area, thereby improving the real-time performance and the accuracy of the cooperative target pose estimation calculation method.
Description
Technical field
The present invention relates to unmanned plane voluntary recall technical fields, certainly more particularly to a kind of unmanned plane based on navigation information
Main recycling target prediction method.
Background technology
It is a research currently to carry out voluntary recall (ground recycling or vehicle-mounted recycling etc.) in civil field to unmanned plane
Hot and difficult issue, and to realize safe voluntary recall, accurate Relative attitude and displacement estimation in real time is basis, especially for small
It is even more a challenge for type unmanned plane (the especially unmanned plane of high-speed motion).
Currently used voluntary recall method is to be based on cooperative target calibration method, by detect and track ground or vehicle
Cooperative target estimate that the relative pose of unmanned plane, however small drone load is limited, airborne processing capacity by
It is conventional to be likely to that requirement of real-time is met based on cooperative target calibration method to limitation, or since cooperative target is being schemed
Change in location as in too fast causes pose estimation effect poor.
Therefore, it is used for solving cooperative target in unmanned plane voluntary recall to a certain extent there is an urgent need for a kind of method at research to predict
Real-time and accuracy the problem of.
Invention content
To overcome defect of the existing technology, in the case of being movement for cooperative target, the present invention provides a kind of base
In the unmanned plane voluntary recall target prediction method of navigation information.Cooperative target movement means cooperative target in world coordinate system
In displacement component can change, i.e.,It changes, therefore first has to obtainValue.
During unmanned plane voluntary recall, unmanned plane can provide the navigation informations such as pose in real time, i.e.,WithIt is known.The present invention is based on the posture informations of the unmanned plane at moment the last period, are fitted and are closed using relevant numerical method
The curve movement for making target estimates the space motion location at cooperative target current time according to the curve, in conjunction with navigation information
The imaging point of forecast collaboration target.Specific implementation step is as follows：
(1) coordinate system is defined
Camera coordinate system ocxcyczc：Origin is the optical center of video camera, ocxcAnd ocycThe u of axis and image, v axis are parallel,
oczcAxis is that camera shooting is optical axis, focal length f, ocxcAnd ocycThe effective focal length in direction is respectively fxAnd fy；
Unmanned plane body coordinate system obxbybzb：ocycAxis is directed toward head, o along fuselage axis of symmetry linecxcPerpendicular to unmanned plane pair
It is directed toward fuselage right, o in title faceczcAxis meets right-hand rule；
Imaging plane coordinate system：Origin is the central point of image, and abscissa x and ordinate y are respectively parallel to where image
Row and column；
Image coordinate system：Origin is the upper left corner of image, and abscissa u and ordinate v are the row and column where image respectively,
Central point (u0,v0) it is main point coordinates；
(2) cooperation marker movements mean that displacement component of the cooperation mark in world coordinate system can change, i.e.,It changes.If target point P is the central point of cooperative target, as shown in Fig. 2, considering pinhole camera
Model, wherein OcPoint is optical center, OczcAxis is optical axis, and f is focal length.Target point P is relative to camera optical center OcDistance imaging
Projection (the x of machine coordinate systemc,yc,zc) can be expressed as:
WhereinFor projections of the target point P in world coordinate system,It is sat in the world for unmanned plane
Projection in mark system,For the spin matrix of unmanned plane body coordinate system to camera coordinate system,It is revolved for the posture of unmanned plane
Torque battle array.
Assuming that target point P is respectively (x, y) and (u, v), image in the coordinate of imaging plane coordinate system and image coordinate system
Principal point coordinate in coordinate system is (u0,v0), then projections of the target point P under the two coordinate systems has following relationship
(3) estimate cooperative target in the spatial position of subsequent time based on fitting of a polynomial.
Assuming that relative position of the unmanned plane at the preceding n moment is (xc(tk-i),yc(tk-i),zc(tk-i)), wherein i=1 ...
n；In conjunction with cooperative target relative pose information, the spatial position of the cooperative target at n moment before can obtainingWherein i=1 ... n；
Consider in time interval [tk-i,tk-1] in, the curve movement of cooperative target can be fitted with lower order polynomial expressions, i.e.,
Polynomial coefficient (c can be obtained using formula (3)x0,cx1,cx2,…cxn)(cy0,cy1,cy2,…cyn)(cz0,cz1,
cz2,…czn)；Therefore work as tkWhen the moment, cooperative target can be estimated at this according to obtained multinomial coefficient, convolution (3)
The spatial position at quarter
(4) image space of forecast collaboration target.
According to tkThe navigation information at momentWithAnd tkMoment estimation(x can be obtained using formula (1)c(tk),yc(tk),zc(tk)), it, can be pre- further according to formula (2)
Survey the imaging pixel point (u (t of cooperative targetk),v(tk))。
Compared with prior art, the present invention can generate following technique effect：
Consider in pose estimation procedure, do not need to handle entire image, and only need to target area into
Row processing, so as to reduce detection time.It is integrated with navigation system on unmanned plane simultaneously, navigation can be provided in real time
Information, and target imaging geometrical principle is related with navigation information.Therefore navigation information of the present invention can be with forecast collaboration
The imaging region of target only carries out target detection tracking and relative pose resolves, in the area to improve cooperative target
The real-time and accuracy of pose algorithm for estimating.
Description of the drawings
Fig. 1 is a kind of schematic diagram of cooperative target.
Fig. 2 is video camera imaging principle schematic.
Specific implementation mode
The present invention is described in detail below, so that advantages and features of the invention can be easier to by art technology
Personnel's understanding, so as to make a clearer definition of the protection scope of the present invention.
In the case of being movement for cooperative target, the present invention provides a kind of unmanned plane voluntary recall based on navigation information
Target prediction method.Cooperative target movement means that displacement component of the cooperative target in world coordinate system can change, i.e.,It changes, therefore first has to obtainValue.It is independently returned in unmanned plane
During receipts, unmanned plane can provide the navigation informations such as pose in real time, and the present invention is based on the positions of the unmanned plane at moment the last period
Appearance information, using relevant numerical method be fitted cooperative target curve movement, according to the curve estimate cooperative target it is current when
The space motion location at quarter, in conjunction with the imaging point of navigation information forecast collaboration target.
A specific embodiment is given below：
Case：Assuming that the focal length of video camera is fx=fy=1000, resolution ratio is 1280 × 720；Current tkMoment unmanned plane
Projection in world coordinate systemThe posture spin matrix of unmanned planeFor unit matrix, camera shooting
The spin matrix of machine and unmanned plane bodyCooperative target on ground is at the uniform velocity transported with the speed of 2m/s
It is dynamic, and the spatial position sequence of the cooperative target of estimation early periodWherein i=1 ... 5 (here with 5
For a value, it is spaced dt=0.2s), respectively (9.2,8.9,0.1), (9.3,9.3,0.15), (9.15,9.5,0.2),
(9.25,9.8,0.05), (9.5,10.2,0.12).
It needs to predict current tkThe image space of moment cooperative target.
Using the method for the present invention, steps are as follows：
1) according to known cooperative target spatial position sequence, since cooperative target moves, first according to formula (3)
It is fitted cooperative target movement locus with multinomial based on the spatial position sequence of the cooperative target of estimation early period, that is, is sought multinomial
Formula coefficient, due to using preceding 5 groups of data here, can obtain 3 rank multinomial coefficients according to formula (3) is：
cx0=-0.6, cx1=6.9583, cx2=-15.625, cx3=10.4167
cy0=-0.3, cy1=5, cy2=-8.75, cy3=6.257
cz0=-0.24, cz1=3.35, cz2=-10.625, cz3=8.125
2) according to 1) result and formula (3) predict current tkThe spatial position of moment target
3) according to formula (1) obtain target camera coordinate system projection (xc(tk),yc(tk),zc(tk))。
4) t is predicted according to formula (2)kImage space (u (the t of moment cooperative target in the picturek),v(tk))。
The foregoing is merely a preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of unmanned plane voluntary recall target prediction method based on navigation information, it is characterised in that：Include the following steps：
(1) coordinate system is defined
Camera coordinate system ocxcyczc：Origin is the optical center of video camera, ocxcAnd ocycThe u of axis and image, v axis are parallel, oczcAxis
It is optical axis, focal length f, o for camera shootingcxcAnd ocycThe effective focal length in direction is respectively fxAnd fy；
Unmanned plane body coordinate system obxbybzb：ocycAxis is directed toward head, o along fuselage axis of symmetry linecxcPerpendicular to the unmanned plane plane of symmetry
It is directed toward fuselage right, oczcAxis meets right-hand rule；
Imaging plane coordinate system：Origin is the central point of image, and abscissa x and ordinate y are respectively parallel to the row where image
And row；
Image coordinate system：Origin is the upper left corner of image, and abscissa u and ordinate v are the row and column where image, center respectively
Point (u0,v0) it is main point coordinates；
(2) cooperation marker movements mean that displacement component of the cooperation mark in world coordinate system can change, i.e.,It changes；If target point P is the central point of cooperative target, pinhole camera modeling is considered, wherein
OcPoint is optical center, OczcAxis is optical axis, and f is focal length；Target point P is relative to camera optical center OcDistance in camera coordinate system
Projection (xc,yc,zc) can be expressed as:
WhereinFor projections of the target point P in world coordinate system,It is unmanned plane in world coordinate system
In projection,For the spin matrix of unmanned plane body coordinate system to camera coordinate system,For the posture spin moment of unmanned plane
Battle array；
Assuming that target point P is respectively (x, y) and (u, v), image coordinate in the coordinate of imaging plane coordinate system and image coordinate system
Principal point coordinate in system is (u0,v0), then projections of the target point P under the two coordinate systems has following relationship
(3) estimate cooperative target in the spatial position of subsequent time based on fitting of a polynomial；
(4) image space of forecast collaboration target.
2. the unmanned plane voluntary recall target prediction method according to claim 1 based on navigation information, it is characterised in that：
In step (3)：Assuming that relative position of the unmanned plane at the preceding n moment is (xc(tk-i),yc(tk-i),zc(tk-i)), wherein i=
1,…n；In conjunction with cooperative target relative pose information, the spatial position of the cooperative target at n moment before can obtainingWherein i=1 ... n；
Consider in time interval [tk-i,tk-1] in, the curve movement of cooperative target can be fitted with lower order polynomial expressions, i.e.,
Polynomial coefficient (c can be obtained using formula (3)x0,cx1,cx2,…cxn)(cy0,cy1,cy2,…cyn)(cz0,cz1,
cz2,…czn)；Therefore work as tkWhen the moment, cooperative target can be estimated at this according to obtained multinomial coefficient, convolution (3)
The spatial position at quarter
3. the unmanned plane voluntary recall target prediction method according to claim 2 based on navigation information, it is characterised in that：
In step (4)：According to tkThe navigation information at momentWithAnd tkMoment estimation(x can be obtained using formula (1)c(tk),yc(tk),zc(tk)), it, can be pre- further according to formula (2)
Survey the imaging pixel point (u (t of cooperative targetk),v(tk))。
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| CN111399542A (en) * | 2020-04-02 | 2020-07-10 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle landing method and device, storage medium, automatic pilot and unmanned aerial vehicle |
| CN111951331A (en) * | 2020-07-07 | 2020-11-17 | 中国人民解放军93114部队 | Precise positioning method and device for flight device based on video image and electronic equipment |
| CN112419417A (en) * | 2021-01-25 | 2021-02-26 | 成都翼比特自动化设备有限公司 | Unmanned aerial vehicle-based photographing point positioning method and related device |
| CN117516485A (en) * | 2024-01-04 | 2024-02-06 | 东北大学 | Pose vision measurement method for automatic guiding and mounting of aircraft engine |
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| CN117516485A (en) * | 2024-01-04 | 2024-02-06 | 东北大学 | Pose vision measurement method for automatic guiding and mounting of aircraft engine |
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